A ROS 2 stack that contains agents, interfaces and RQT plugins for connecting to CORTEX architecture using a Deep State Representation (DSR) graph.
- dsr_agents: agents to connect to CORTEX architecture.
- dsr_bringup: launch files to start the agents.
- dsr_bridge: bridge to connect two different DSR graphs through ROS 2.
- dsr_msgs: messages and services to interact with the DSR agents and ROS.
- dsr_rqt_plugin: RQT plugin to visualize a Deep State Representation (DSR) graph.
- dsr_util: utilities to work with DSR graphs.
Keywords: ROS2, DSR, RQT
Author: Alberto Tudela, José Galeas Merchan, Óscar Pons Fernández
The dsr_ros package has been tested under ROS2 Humble on Ubuntu 22.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.
- Robot Operating System (ROS) 2 (middleware for robotics)
- Cortex (DSR library)
- FAST-DDS (eprosima Fast DDS)
To build from source, clone the latest version of the repository into your colcon workspace and compile the package using the following commands:
cd colcon_workspace/src
git clone https://github.com/grupo-avispa/dsr_ros.git -b humble
cd ../
rosdep install -i --from-path src --rosdistro humble -y
colcon build --symlink-install